NDLI: Ellipsoidal outer-approximation of workspace of binary manipulator for inverse kinematics solution

Content Provider	IEEE Xplore Digital Library
Author	Maeda, K. Konaka, E.
Copyright Year	2014
Description	Author affiliation: Meijo Univ., Nagoya, Japan (Maeda, K.) \|\| Dept. of Inf. Eng., Meijo Univ., Nagoya, Japan (Konaka, E.)
Abstract	In this study, a binary manipulator is considered as a controlled plant. The control objective is to bring the end effector of the binary manipulator close to a given target point and orientation. One advantage of the binary manipulator is its high reliability owing to its hyper-redundancy. However, the inverse kinematics problem of the binary manipulator is a combinatorial optimization problem. The workspace of the binary manipulator is a discrete set. The number of reachable points grow exponentially with respect to the number of binary actuators. Therefore, compact representation of the workspace is necessary. This paper proposes an ellipsoidal outer-approximation of the workspace of the binary manipulator. This approximation can be calculated recursively, and it can be utilized for the inverse kinematics problem of binary manipulators. The validity of the proposed method is verified via numerical experiments.
Starting Page	1331
Ending Page	1336
File Size	500684
Page Count	6
File Format	PDF
e-ISBN	9781479957361
DOI	10.1109/AIM.2014.6878267
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-08
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Ellipsoids Approximation methods Actuators Approximation algorithms Kinematics Vectors
Content Type	Text
Resource Type	Article

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